parallel_node.h

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2022 Davide Faconti, Eurecat -  All Rights Reserved
*
*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
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*/
 
#pragma once
 
#include <set>
#include "behaviortree_cpp/control_node.h"
 
namespace BT
{
class ParallelNode : public ControlNode
{
public:
  ParallelNode(const std::string& name);
 
  ParallelNode(const std::string& name, const NodeConfig& config);
 
  static PortsList providedPorts()
  {
    return { InputPort<int>(THRESHOLD_SUCCESS, -1,
                            "number of children that need to succeed to trigger a "
                            "SUCCESS"),
             InputPort<int>(THRESHOLD_FAILURE, 1,
                            "number of children that need to fail to trigger a "
                            "FAILURE") };
  }
 
  ~ParallelNode() override = default;
 
  virtual void halt() override;
 
  size_t successThreshold() const;
  size_t failureThreshold() const;
  void setSuccessThreshold(int threshold);
  void setFailureThreshold(int threshold);
 
private:
  int success_threshold_;
  int failure_threshold_;
 
  std::set<size_t> completed_list_;
 
  size_t success_count_ = 0;
  size_t failure_count_ = 0;
 
  bool read_parameter_from_ports_;
  static constexpr const char* THRESHOLD_SUCCESS = "success_count";
  static constexpr const char* THRESHOLD_FAILURE = "failure_count";
 
  virtual BT::NodeStatus tick() override;
 
  void clear();
};
 
}  // namespace BT